CN1902953A - Peak picking in location systems - Google Patents
Peak picking in location systems Download PDFInfo
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- CN1902953A CN1902953A CNA2004800381968A CN200480038196A CN1902953A CN 1902953 A CN1902953 A CN 1902953A CN A2004800381968 A CNA2004800381968 A CN A2004800381968A CN 200480038196 A CN200480038196 A CN 200480038196A CN 1902953 A CN1902953 A CN 1902953A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0218—Multipath in signal reception
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Systems, methods and computer program products for accurately determining the location of people or objects are disclosed. The location of people or objects (800) is calculated based on a received signal strength indication (RSSI). The distance between a transmitter and a receiver is calculated in a manner that can reduce or eliminate the effect of multiple paths of a signal between the transmitter and the receiver. Therefore, the location system provides a mechanism for determining the RSSI value accurately regardless of the multiple paths between a transmitter and receiver.
Description
The cross reference of related application
The present invention require on October 20th, 2003 application, sequence number No.60/512, priority 935, that be entitled as the U.S. Provisional Patent Application of " the peak picking time diversity that is used for navigation system ", described content at this in conjunction with as a reference.
Technical field
The present invention relates to navigation system, particularly be used for determining method, system and the computer program of object space in navigation system.
Background technology
Because several reasons, the position of knowing people or object is useful.The position of people or object allows the opposing party to find people or the object of losing, such as children or expensive equipment.Positional information can also be used as a blocks of data together with out of Memory.For example, know that the position of all print destinations in the building and portable notebook computer can allow system that print job automatically is routed to nearest printer from notebook computer, save time thus and worsen.In addition, know that whose concrete room in building can also allow system that the temperature in that space or light are adjusted to this person's hobby or that people's call is routed to phone in that space.These application programs are examples of practicality of the system of the explanation position that allows to know people or object.
Traditional navigation system is usually according to one of two methods.In first method, measuring-signal calculates the distance between A and two points of B then from the time quantum that an A advances to a B.In second method, traditional navigation system is according to the distance of signal strength signal intensity indication (RSSI) calculating between transmitter and receiver that is received.Described RSSI is the function of the distance and the path loss factor:
RSSI＝1/d
-f
Wherein d is a distance, and f is the factor.
Though second method is conceptive simpler than first method, signal wave is advanced through the many paths between transmitter and receiver, particularly in the interior space.Sometimes these multi-path signals in phase (constructively) arrive receiver, sometimes they not in phase (devastatingly) arrive receiver.This means that described RSSI can be the 3dB higher than actual value, perhaps almost than the low 30dB of actual value.This multipath attenuation is difficult in the navigation system according to the definite exactly RSSI value of second method it.
Summary of the invention
Need navigation system, it uses the signal strength signal intensity indication (RSSI) that is received to determine the position of people or object exactly.The invention provides this navigation system, it can calculate distance between transmitter and receiver exactly according to RSSI.In the present invention, calculate in the mode that the multipath that reduces or eliminates signal between transmitter and receiver influences in the distance between transmitter and the receiver.Therefore, the invention provides the mechanism that is used for not considering the multipath of signal between transmitter and receiver and determines the RSSI value exactly.
According to one aspect of the invention, a system is provided, it has comprised the transmitter that is used to send signal.Described system has also comprised the receiver that is used to receive from the signal of transmitter transmission.Receiver is according to determining signal strength signal intensity in the peak-peak with respect to the signal in the sampling window of timing definition.
According to a further aspect of the invention, provide a kind of method that is used for determining signal strength signal intensity at computing equipment.Described method comprises the step of reception from the signal of transmitter transmission.Described method comprises that also basis is in the step of determining signal strength signal intensity with respect to the peak-peak of the signal in the sampling window of timing definition.
In the present invention on the other hand, provide a kind of executable computer program that is used for the instruction of definite signal strength signal intensity of computer that is used for being kept at.Described instruction is implemented as the signal that reception sends from transmitter.Described instruction also is implemented as according to determining signal strength signal intensity in the peak-peak with respect to the signal in the sampling window of timing definition.
Description of drawings
Above-mentioned feature and advantage of the present invention and further feature and aspect, with reference to following explanation and accompanying drawing and become better understood, wherein:
Fig. 1 has illustrated the exemplary orientation system with object identifiers and position determination module according to the embodiment of the invention;
Fig. 2 understands the navigation system that comprises network Connection Element, one or more object identifiers, location resolver and any fixed location identifier in more detail;
Fig. 3 has illustrated the object identifiers according to the embodiment of the invention;
Fig. 4 is the perspective view according to the object identifiers of the embodiment of the invention;
Fig. 5 A-5C has illustrated each method of the operation of the object identifiers of each embodiment according to the present invention;
Fig. 6 has illustrated the network Connection Element according to the embodiment of the invention;
Fig. 7 has illustrated the fixed location identifier according to the embodiment of the invention;
Fig. 8 has illustrated the location resolver according to the embodiment of the invention;
Fig. 9 A provides the method for operation according to the location resolver of the embodiment of the invention;
Fig. 9 B illustrates the flow chart of example operation of location resolver of determining the intensity of received signal according to the embodiment of the invention;
Fig. 9 C is the flow chart of explanation and the peak picking method of the present invention used together of space diversity;
Fig. 9 D is the flow chart of explanation and the peak picking method of the present invention used together of time diversity;
Fig. 9 E is the flow chart of explanation and the peak picking method of the present invention used together of polarization diversity;
Figure 10 A has described the example of received signal;
Figure 10 B has described the example of the received signal that has sampling window on it;
Figure 10 C has described the example of wherein selecting the received signal of peak value with sampling window;
Figure 11 has illustrated navigation system according to another embodiment of the present invention;
Figure 12 provides the perspective view that is installed in the navigation system of a position according to another embodiment of the present invention; With
Figure 13 has illustrated the network interface that uses according to the embodiment of the invention in network Connection Element or location resolver.
Embodiment
Some embodiment of the present invention is below described.Yet what pay special attention to is that the present invention is not limited to these embodiment, but is included in increase described here and modification in the category of the present invention.In addition, should be appreciated that under the situation that does not break away from the spirit and scope of the present invention that the feature of each embodiment described here is not mutually exclusive, and may reside in various combination and the displacement, or even here do not explain in this combination or the displacement.
Illustrative embodiment of the present invention provides a kind of and can be used for being positioned in the space, mainly be indoors the people or the navigation system of object.In illustrative embodiment, a series of transducers or receiver obtain slave unit (label), such as object identifiers that is coupled to people or object and transmitter, and the energy object identifiers of transmission.The example of the type of this energy can comprise infrared (IR), radio frequency (RF) and ultrasonic wave (US).Navigation system uses one or more computing techniques to handle from the data of transducer and/or the acquisition of their corollary equipment, to determine the position of people or object.These computing techniques comprise, still are not limited to be calculated triangulation, multidirectional method (multilateration), the signal strength signal intensity that receives and the time of advent, describes in more detail hereinafter with reference to Fig. 9 A.Illustrative embodiment provides a kind of RF of utilization signal strength signal intensity to come to determine exactly the technology of the position of people or object.Especially, illustrative embodiment determines exactly the RF signal strength signal intensity according to the peak-peak of the RF signal in given sampling window, and given sampling window is used in the position location computation subsequently.One skilled in the art will understand, although illustrative embodiment will be described with respect to the RF signal, the present invention can be applied to the signal of other type, such as the US signal.
Fig. 1 is the navigation system 100 of the demonstration that provides in illustrative embodiment of the present invention.The navigation system 100 of described demonstration comprises object identifiers 800 and position determination module 14.Object identifiers 800 can be coupled to object, so that the position of object is corresponding to the position of object identifiers 800.Object identifiers 800 can be any equipment that can send the signal that is used for the marker body position.In illustrative embodiment of the present invention, object identifiers 800 can realize in electronic equipment.Described electronic equipment can adopt many forms, for example processor, portable computer, personal digital assistant, such as the combination in any of cellular communication equipment, network and any equipment, receiver, transmitter, interface or these equipment that can process information.Network can be Local Area Network, wide area network (WAN), internet, in-house network or metropolitan area network.Network can be the network of wireless network, cellular network, the network based on GSM, hard-wired network or other type such as blueteeth network.
Each embodiment according to the present invention, object identifiers 800 sends two identifiers, and an identifier is group indicating devices corresponding to 800, the second identifiers of specific object identifiers.Though identifier can be many forms, each embodiment according to the present invention, some examples comprise numeral, letter, URL, MAC Address and IP address.Hereinafter with reference to Fig. 3-5C description object identifier 800 in more detail.
According to the embodiment of the invention, position determination module 14 can comprise any structure that is suitable for determining the position.Example comprises having intelligence to determine any equipment of one or more object identifiers position.Each embodiment according to the present invention, position determination module 14 can comprise with the one or more of lower member or its combination: network Connection Element, fixed location identifier, location resolver, database, topology data, electronic equipment, web interface, network interface, special network interface, realization (implementation) interface, database interface, network and/or special network, receiver and/or transmitter.Each embodiment according to the present invention, position determination module 14 can only have a receiver, only has the additional firmware of transmitter, receiver and a transmitter and expectation.One of ordinary skill in the art be it is evident that one or more assemblies can various configurations and distributed.
Each embodiment according to the present invention, the present invention can be used for determining having the position of the object of position determination module 14 or module 14 itself.In such an embodiment, position determination module 14 can be a mobile module, can determine its self-position with respect to one or more object identifiers.In such an embodiment, object identifiers can be fixed.Optionally, object identifiers can move.Use an example of shift position determination module 14 to relate to the navigation system that is configured in big zone, determine the position.If this big zone is filled by objects of small quantity, the assembly of so this navigation system can the configuration effectively by the function that each object is provided position determination module 14.In this case, object identifiers can be assigned as and spread all over described big zone.Position determination module 14 goes for then from object identifiers receiving position signal, determines the position of position determination module 14 thus.In this embodiment, the position of described object is with respect to the position of one or more object identifiers and definite, although the position of object identifiers can be known, but allow the position of object to determine, such as in the position on the map or on the particular space with respect to other benchmark or by title.
Top configuration is opposite with another embodiment of the present invention, and another embodiment is applicable to the environment that has voluminous object in little zone better.In such an embodiment, each object can have an object identifiers.One or more position determination module can be positioned at described zone then, to receive the position signalling that is sent by object identifiers.In this embodiment, the position of described object is determined by the position of determining object identifiers.
Each embodiment according to the present invention, position determination module 14 perhaps can be carried out additional function, such as the request that receives information, information, stored information are provided, in response to the command action of positional information, object is associated, sets up the privacy conditions that is considered as the positional information availability, directly is connected with each network type with other object or position, or the like.According to another embodiment of the present invention, position determination module 14 comprises the receiver of a plurality of distribution, and the some of them receiver can be connected to network, other then be free of attachment to network.Each embodiment according to the present invention, object identifiers 800 and position determination module 14 be used for the RF signal determined the position and IR signal the two.
According to the embodiment of the invention, position determination module 14 can comprise one or more databases.Described database can be stored the information about the current location of object identifiers, fixed location identifier and network Connection Element.Hereinafter with reference to Fig. 7 descriptive data base in more detail.
Each embodiment according to the present invention, navigation system 100 can be used in the hermetically-sealed construction, can be applied to indoor navigation system thus.The structure of sealing comprises building, such as office building, show room, health institution, family or other structure.According to other embodiment, the present invention can use outside hermetically-sealed construction, perhaps can use inside and outside hermetically-sealed construction simultaneously.
Fig. 2 is the more detailed block diagram of the navigation system 100 of the illustrative embodiment according to the present invention.Has the object identifiers 800 of communicating by letter with way of example explanation navigation system 100 with the position determination module that comprises at least one network Connection Element 900.According to the embodiment of the invention, object identifiers 800 physically is coupled to object, so that the position of object identifiers 800 is considered to the position of object.According to another embodiment of the present invention, the position of described object can be to determine by being positioned at the one or more object identifiers 800 in the zone and network Connection Element 900 being coupled to object.In such an embodiment, network Connection Element 900, the position of described object is to determine with respect to one or more object identifiers 800 thus.Network Connection Element 900 is configured to be coupled to network 400.The embodiment arbitrarily according to the present invention, network can be a wireless network.As illustrated in fig. 2, one or more object identifiers 800 can be for communication to network Connection Element 900.According to another embodiment of the present invention, network Connection Element 900 can be communicated by letter and be got back to object identifiers 800.
According to another embodiment of the present invention, position determination module 14 can comprise fixed location identifier 1000.One skilled in the art will understand, and fixed location identifier 1000 can be separated with module 14.Fixed location identifier 1000 is configured to from one or more object identifiers 800 received signals, and goes to transmit (retransmit) that information.The information of described forwarding can be received by network Connection Element 900.According to one embodiment of the invention, that the information of described forwarding comprises is 800 that provide by object identifiers, with the information of additional information coupling with identified with fixed position identifier 1000, fixed location identifier 1000 is transmitted described information.According to the embodiment of the invention, many network Connection Elements 900, fixed location identifier 1000 and object identifiers 800 can provide in navigation system 100.In this case, in order to be determined the position of one or more object identifiers 800 by one or more network Connection Elements 900 or the miscellaneous equipment that is coupled to network 400, network 400 can be provided in the communication among the network Connection Element 900.
As shown for example, according to embodiments of the invention, illustrational position determination module 14 comprises network Connection Element 900, fixed location identifier 1000 and network 400.One skilled in the art will understand position determination module 14 can be not included in one or more these elements among other embodiment.
According to embodiments of the invention, object identifiers 800 and/or fixed location identifier 1000 send each information.According to embodiments of the invention, this information is by RF and the two transmission of IR signal.Optionally, described information can send by signal only.According to embodiments of the invention, the example of the information that sends can comprise following one or own: the RF power level; The IR power level; Battery level; The input equipment state; Transmission frequency is for example reappeared (repetition) rate, for the transmission of any or all type, such as IR and/or RF; Identifier corresponding to transmitting apparatus; Identifier corresponding to the group that is associated with transmitting apparatus; Any information from another system element reception; State or conditional information; Or the like.According to embodiments of the invention, some information can repeat by a plurality of signal transmission.Example comprises by sending the input equipment state that sends for ten times, the possibility that receives with other assembly that increases by navigation system.
According to another embodiment of the present invention, the location resolver 1100 that provides with network Connection Element 900 signal posts can be provided navigation system 100.In this embodiment, location resolver 1100 is communicated by letter with one or more network Connection Elements 900, perhaps communicate by letter with other system unit if desired, to obtain the information relevant with one or more object identifiers 800 and one or more any fixed location identifier 1000.Location resolver 1100 can software or the mode of hardware or the two combination provide.Location resolver 1100 can be communicated by letter with one or more network Connection Elements 900 by network 400.Location resolver 1100 can be directly coupled to one or more network Connection Elements 900 in other embodiments.
As shown for example, according to embodiments of the invention, illustrational position determination module 14 comprises network Connection Element 900, location resolver 1100 and fixed location identifier 1000.In this embodiment, described network 400 is included in the position determination module 14, although this needs if it were not for described situation, location resolver 1100 can directly or by network 400 be communicated by letter with position determination module 14.Hereinafter with reference to Fig. 8-10C location resolver 1100 is described in more detail.
Fig. 3 is the exemplary object identifiers of using in illustrative embodiment of the present invention 800.Object identifiers 800 has controller 810 and controller accessory 820.It is a plurality of that controller accessory 820 can comprise, such as power supply, such as the battery that electric energy is provided or miscellaneous equipment, memory and/or such as a plurality of timing circuits of oscillator.Controller accessory 820 can optionally comprise nonvolatile memory.A plurality of assemblies of controller accessory 820 can optionally be incorporated in the controller 810, can provide from external source, are positioned at outside the object identifiers 800.
According to embodiments of the invention, object identifiers 800 can have RF transmitter 830.According to another embodiment of the present invention, object identifiers 800 can have IR transmitter 840.According to another embodiment of the present invention, object identifiers 800 has RF transmitter 830 and IR transmitter 840 simultaneously.
According to another embodiment of the present invention, object identifiers 800 has RF receiver 850.According to another embodiment of the present invention, object identifiers can have IR receiver 860.
According to another embodiment of the present invention, indicating device 880 can be provided as and allows controller 810 information to be outputed to the vicinity of object identifiers 800.The example of indicating device 880 comprises video, audio frequency and vibratory equipment.These examples comprise the lamp and/or the display of buzzer, electric bell, loudspeaker, LED, other form.Indicating device 880 can be configured to show or export the information that determine or that received by input equipment 870, RF receiver 850 and/or IR receiver 860 by controller 810 by controller 810.
In Fig. 4 illustrated according to the object identifiers 800 of the embodiment of the invention.Object identifiers 800 is illustrated as two indicating devices 880 that have with two LED forms.Three input equipments 870 are switch form.Two switches are depicted as so that corresponding two indicating devices 880, though the 3rd switch 870 is on the reverse side of object identifiers 800.According to this illustrative embodiment, the input equipment 870 on object identifiers 800 lower surfaces normally advances when object identifiers 800 appends to object.In case remove from object, input equipment 870 extends, and makes the change of input equipment 870 positions.This embodiment allow when object identifiers 800 when object removes, to controller 810 warnings.Each indicating device 880 can be configured to the input equipment 870 in case corresponding switch activator just throws light on, so that allow the visual confirmation of the activation of one of switch.The various uses of these switches will be conspicuous to one skilled in the art.By explanation, several examples comprise alarmed alarm, cause processor 810 by RF transmitter 830 and the IR transmitter 840 special signal of emission one of at least wherein.Another example can relate to the ability that is disposed a part of navigation system 100 by input equipment 870 activation at a distance.
Fig. 5 A, 5B and 5C have illustrated a plurality of examples from the transmission of the signal of object identifiers 800 of according to the present invention a plurality of embodiment.First method 802 according to the embodiment of the invention has been described among Fig. 5 A.The RF power level is set to Pn (step 804).Send IR signal (step 806).The m delay (step 808) of second takes place then.Send RF signal (step 812).X another delay (step 814) of second takes place then.Increase Pn (step 816) then.This method 802 provides consistent basically IR power level, though the RF power level changes.The variation of RF power level can help to determine the position of object identifiers 800 by enabling position determination module 14, and network Connection Element 900 or position determination module 14 receive and be less than all RF signals especially.According to embodiments of the invention, IR and RF signal one or the two also send information.The example of this information can comprise the duration of signal strength signal intensity, the cycle between sending, the transmission of transmission, the information that receives corresponding to a plurality of identifiers of object identifiers 800, from one or more input equipments 870 and/or such as with the relevant a plurality of state informations of other assembly of motion 820 of controller 810 controllers or object identifiers 800.According to one embodiment of the invention, described RF signal is transmission in per ten seconds, and described IR signal is transmission in per 20 seconds.
Frequency that sends and length determine to relate to the battery life accuracy that comprises the position, the frequency that the position is upgraded, the consideration of between signal transmission and Internet traffic, disturbing.
The other method 822 of the embodiment of the invention has been described among Fig. 5 B.According to this embodiment, send (step 824) at the next one of RF signal and send RF signal (step 824) before and postpone (step 826).Be independent of the RF transmission, send IR signal (step 828).IR sends (step 828) and may take place simultaneously with the transmission (step 824) of RF signal, but this embodiment of the present invention not so restriction fully.The transmission (step 828) of RF signal can be in relevant with the transmission (step 824) of RF signal generation whenever.Before the next one of RF signal sends (step 828), c takes place postpone (step 832) second.
According to another embodiment of the present invention, Fig. 5 C illustrated another method 842.According to this embodiment, send RF signal (step 844) and send IR signal (step 846).Embodiment according to selecting may occur in the transmission (step 848) in another medium simultaneously.The example of other medium comprises ultrasonic wave (US), visible light or the sound that can listen.According to the method 842 of Fig. 5 C, perhaps transmission is continuous, variation or takes place at certain intervals.The transmission among a plurality of mediums can be with the transmission in other medium synchronous or at random.
Fig. 6 has illustrated the example according to the network Connection Element 900 of the embodiment of the invention.Network Connection Element 900 can comprise an assembly or a plurality of assembly of the object identifiers 800 that is similar to Fig. 3 illustrated.Network Connection Element 900 has controller 910 and controller accessory 820.Controller accessory 820 can optionally comprise nonvolatile memory.Optionally, a plurality of embodiment of the present invention can comprise following one or more assemblies in network Connection Element 900: RF receiver 930, IR receiver 940, RF transmitter 950, IR transmitter 860, input equipment 970 and/or indicating device 980.
According to embodiments of the invention, network Connection Element 900 can also have web server 990.Because have the web server 340 of the receiver 300 of navigation system 100, the web server 990 of network Connection Element 900 can provide or reception information or order.In a plurality of embodiment of the present invention, web server 990 can allow to control and dispose any assembly of navigation system.
According to another embodiment of the present invention, network Connection Element 900 can have network interface 992.As the network interface 330 of navigation system 100, network interface 992 is configured to Coupling Control Unit to network 400.According to embodiments of the invention, network interface 992 is suitable for the cache information of packing and being received, and sends this information as group, is provided at thus that more effective network uses in some application programs.
Another embodiment of the present invention provides the database 996 of communicating by letter with the controller 910 of network Connection Element 900 then.Database 996 can be provided in the network Connection Element 900, perhaps can be provided on the network 400.The alternate embodiments according to the present invention, database 996 can be provided in the network Connection Element 900, can also with network 400 direct communications.
Fig. 7 for example understands fixed location identifier 1000 according to an embodiment of the invention.Fixed location identifier 1000 is similar to the object identifiers 800 with respect to Fig. 3 explanation and description.Controller 1010 is provided as with controller accessory 1020 and communicates by letter.According to a plurality of embodiment of the present invention, RF and IR transmitter and receiver 1030,1040,1050,1060 can provide or provide in combination respectively.Input equipment 1070 and indicating device 1080 can also be each or the two all be included among a plurality of embodiment of the present invention.Fixed location identifier 1000 is configured to from one or more object identifiers 800 and/or other fixed location identifier 1000 received signals, and these signals are forwarded to network Connection Element 900 together in company with identifying information, transmitting described information to indicate which fixed location identifier 1000.Additional information about the fixed location identifier 1000 transmitted can also be added, such as the battery information or other state information that allow remote monitoring fixed location identifier 1000.
According to a plurality of embodiment of the present invention, fixed location identifier 1000 can have input equipment 1070 or indicating device 1080, to enable input information or a plurality of semiotic function.Fixed location identifier 1000 does not need by utilizing electric wire or other foundation structure to be coupled to other assembly.Therefore, because fixed location identifier can provide the additional information about the position of object identifiers 800, the utilization of fixed location identifier 1000 makes can realize navigation system with less network Connection Element.And fixed location identifier 1000 can be by the scope that provides high power transmission signal arbitrarily to come extended network Connection Element 900, to arrive the network Connection Element 900 in the scope that perhaps object identifiers 800 can not arrive.
With respect to the signal from object identifiers 800, network Connection Element 900 is suitable for from aforesaid fixed location identifier 1000 received signals.According to embodiments of the invention, network Connection Element 900 comprises can be from the hardware and software of fixed location identifier 1000 received signals.According to embodiments of the invention, network Connection Element 900 can have software, DHCP software and the local permanent memory of the analysis result of continuing property of network software, local web server, fixed location identifier software, transmission fixed location identifier to remote server.According to embodiments of the invention, network Connection Element 900 can also be included in structure, service and the debugging small routine that uses in the maintenance of fixed location identifier 1000 and the configuration.
Fig. 8 for example understands location resolver 1100 according to an embodiment of the invention.As shown in Figure 8, controller 1110 is provided as with network interface 1120 and communicates by letter.Network interface 1120 is applicable to and is coupled to network 400.The controller accessory can also optionally be provided.Web server 1130 is provided as with controller 1110 and communicates by letter.The web server 1130 of location resolver 1100 is similar to the web server 990 at the network Connection Element 900 of this argumentation.
According to embodiments of the invention, location resolver 1100 can have the allocative abilities of other assembly of configuration navigation system.For example, the embodiment of location resolver 1100 can carry out some or all following functions: the resetting system time; Communication resets; End all or all of the assembly selected or the input equipment of selecting, such as object identifiers, fixed location identifier, network Connection Element; Set up and/or eliminate the contact between all or the assembly selected; Set up and/or eliminate security configuration for specific location information; Configuration network communication protocol; Configuration receiver and/or transmitter configuration, change or erasure signal, signal type, such as RF, IR, ultrasonic wave or the like, perhaps the frequency of transmission takes place in transmission frequency and expectation; Receive the information of the position of relevant object identifiers; Determine or the position of calculating object identifier 800.
Realization interface 1140 also is provided as with controller 1110 communicates by letter.For the communication that allows positional information described here and/or the beginning or the response of order, realize that interface 1140 is provided as with miscellaneous equipment to communicate by letter.A plurality of examples of realizing interface 1140 comprise XML and smtp protocol, and other example can be conspicuous to one skilled in the art.
In order to be reduced at the reciprocation between database 1150 and the controller 1110, in another embodiment of the present invention, provide database interface 1155.Database interface 1155 can be to the network of controller 1110 or other hardware or software, makes controller 1110 accessing databases 1150.A plurality of examples of database interface 1155 comprise JDBC and ODBC, and other example can be conspicuous to one skilled in the art.
Fig. 9 A has illustrated the method for operation 1102 according to the location resolver 1100 of the embodiment of the invention.The location resolver 1100 initial inputs of waiting for from receiver are such as network Connection Element 900 (step 1104).Location resolver 1100 determines whether to receive IR signal (step 1106) then.If receive the IR signal, making from the data that the position received of transmitter and receiver is available (step 1108).If do not receive the IR signal, location resolver 1100 is checked to check whether receive RF signal (step 1112).Location resolver 1100 is also checked to check after making that any data can be utilized from the available IR signal that receives, whether is received the RF signal.If do not receive the RF signal, according to embodiments of the invention, location resolver 1100 turns back to another input of waiting for automatic network Connection Element 900 once more.If receive the RF signal, location resolver 1100 uses the peak picking method that provides in the illustrative embodiment of the present invention to determine the intensity (step 1113) of the RF signal that received.Hereinafter with reference to Fig. 9 B-10C the peak picking method is described in more detail.If determined the intensity of the RF signal that received, location resolver 1100 determines whether the RF signal powers are high (steps 1114) so.If make that the data and the message of denoted object identifier within the long radius scope of network Connection Element 900 that receive from transmitter are available (steps 1116).If the RF signal power is not high, location resolver 1100 determines whether the RF signal power is medium (step 1118) so.If make that the data that receive from object identifiers are available (steps 1122) for the message of object identifiers within the minor radius scope of network Connection Element 900.If the RF signal power is not a medium, location resolver 1100 determines whether the RF signal power is low (step 1124) so.If make that the data and the indication of object identifiers within the minor radius scope of network Connection Element 900 that receive from object identifiers 800 are available (steps 1126).Location resolver 1100 turns back to wait another input (step 1104) from one or more network Connection Elements 900 then.
The method that is appreciated that Fig. 9 can be attended by transmitter or the object identifiers of using the power output variation or be attended by firm power output transmitter.In using firm power output transmitter, the signal strength signal intensity of reception is classified according to signal strength signal intensity, such as block diagram.According to embodiments of the invention, network Connection Element 900 is sorted in the signal strength signal intensity in the particular range, and can be sent to other alignment system components to the indication of proper range.According to another embodiment of the present invention, network Connection Element 900 provides the signal strength values that can be sent to other alignment system components, such as location resolver 1100, to allow the more Accurate Analysis to the signal strength information that receives.
According to one embodiment of the invention, RF and IR signal strength signal intensity are adjusted to approximate 20 feet scope.Other embodiments of the invention can relate to RF and/or IR and/or such as the signal strength signal intensity of hyperacoustic other signal type adjust to several inches, several feet, several thousand feet or mile scope.Another embodiment of the present invention relates among the object identifiers of a plurality of types and changes signal strength signal intensity.
The method of operation of location resolver 1100 relates to multidirectional method.Multidirectional method is by determining to determine the position from the scope of relative position.Multidirectional method can be carried out by a receiver, but is preferably realized by a plurality of receivers.An object can be inferred the position of another object by the signal measurement that uses some types with its scope from one or more beacons of known position calculation.According to embodiments of the invention, the RF signal strength signal intensity is used for determining the position.According to another embodiment, the two is used for determining the position RF and IR.Very clear, it is the signal that is used for determining the position that desirable dropout is thought of as.For example, the reception of RF signal rather than IR signal can indicator-transmitter be outside the IR scope, but in the RF scope, needs if perhaps send for lower powered IR, just beyond the invisible.Receiver can be configured to expect that RF and IR send the two usually in certain distance or be used for specific transmitter.This is to use RF and IR, and the two determines an example of position.
Except that current demand signal information,, can use out of Memory to determine the position.Previous positional information can also be used for determining current location.The position of other alignment system components can also be used for determining the position.For example, the position of one or more network Connection Elements 900, one or more fixed location identifier 1000 and other object identifiers 800 can be used for determining the position of certain position system component.According to an embodiment, set up relative distance near additional between assembly and the assembly that expects to have positional information and have greatly to foundation that the position of particularity is helpful.
According to embodiments of the invention, transmission rate can change between dissimilar object identifiers.Transmission rate can be with respect to the type of the object of desired locations information and is adjusted.Example comprises the low transmission rate for typically static object, such as the equipment of typically finding in particular space.Yet people or mobile device can be followed the tracks of better by more multifrequency signal transmission.
Another method of determining the position relates at least one Bayes (Bayesian) network.Another method of determining the position relates to triangulation.For example in U.S. Patent No. 5774876, described the example of one or more previous methods, be incorporated herein by reference at this.In the Heidelberg, Germany: Springer-Verlag, 2001, LNCS2201, p.18ff in record, by editors such as G.D.Abowd, September 30 calendar year 2001--in the Ubicomp 2001:Ubiquitous Computing international conference for the third time that October 2 held in the State of Georgia, US Atlanta, Castro, in Paul etc. " AProbabilistic Room Location Service Wireless NetworkedEnvironments " Bayesian network has been described also.This publication is incorporated herein by reference at this.These methods that the position is determined or the combination of other method can be conspicuous to one skilled in the art, comprise within the scope of the present invention.
Consideration can be set up privacy conditions for the positional information of one or more alignment system components.Maintain secrecy and to realize in many ways.For example, maintain secrecy can be attended by do not make positional information can with or be attended by undefined position information.Maintaining secrecy can be to get rid of consultative management, needs to set up the action of maintaining secrecy.Maintaining secrecy to need to eliminate the action of maintaining secrecy by choosing consultative management.Also can use non-eliminating agreement, prevent the action of maintaining secrecy from setting up.In navigation system, can use a plurality of agreements in combination.Different alignment system components can be attached to different agreements.Example comprises a plurality of groups of the object identifiers that is subordinated to different agreement, can select agreement or confidential state such as some people, such as maintaining secrecy or not maintaining secrecy, can be subordinated to non-eliminating agreement though be used for the object identifiers of positioning equipment.According to embodiments of the invention, perhaps agreement or confidential state distribute by the batch processing ability in the user interface.According to another embodiment, choose or the confidential state of getting rid of agreement can be attended by the input equipment that is combined in the alignment system components.Optionally, confidential state can be confirmed by the indicating device that is combined in the alignment system components.
Can set up associate and other object or with the getting in touch of position.The example of use of contact comprises: deterministic process time, space utilization, can be used for missing consistent, the Ren ﹠amp of contiguous warning, management of warning personnel; The contact of equipment, Wei Zhi ﹠amp; The contact of equipment, Peng You ﹠amp; Enemy's contact, and automatic charging.According to embodiments of the invention, contact details can be stored in the database.Contact can be to carry out by the batch processing ability in the user interface.According to another embodiment, contact can be attended by the input equipment that is combined in the alignment system components.Optionally, contact status can be confirmed by the indicating device that is combined in the alignment system components.An example relates to the input equipment of triggering on object identifiers, fixed location identifier or network Connection Element.Indicating device is such as carrying out described contact by LED or sound indication.Then can be in the finite time internal trigger such as the input equipment on another alignment system components of object identifiers, to be based upon the contact between the assembly.
Incident or action can start according to the change of positional information contact details or input equipment state or any of these.An example relates to the transmission information in response to the object identifiers within the scope of position range or ad-hoc location.An example comprises calls out the doctor when particular patient enters area for treatment.The example of other action comprises that input information sends the current location data that comprises alignment system components and the XML data of state in database, on network.An example is the use of the common cardiac's monitoring application program that uses in the health institution that receives the cardiac arrest report.Term health institution comprises and health care is provided or serves relevant various mechanism as used herein.Example comprises hospital, managerial structure, aid management structure and clinic.Can be configured to receive request according to the navigation system of the embodiment of the invention for the position of given patient or cardiac's watch-dog of giving the alarm.Navigation system can automatically be used location information answer then, to help the patient that the staff of health institution is positioned with to be needed.Analogous cases can use in the activation as the input equipment on the object identifiers of patient's distress call, and wherein alarm and positional information send to health institution's communication system, so that the staff of health institution in time handles.One embodiment of the present of invention can be connected with the Winegard interface, with in response to the unlatching door of the state of positional information or input equipment or trigger other security facility.Other example comprises calling, WAP message, send Email, and triggers or eliminate alarm.
According to embodiments of the invention, if do not receive, the assembly of navigation system is forward signal not.By waiting for, reduced the transmission that spreads all over location system area, and reduced and disturbed difficulty up to the transmission of next one scheduling.
Fig. 9 B is the example operation flow chart that the location resolver 1100 of determining the RF signal strength signal intensity that receives is shown.In the illustrative embodiment of the present invention, the position of object identifiers 800 is to calculate according to the signal strength signal intensity indication (RSSI) that receives.Described RSSI is the function of the distance and the path loss factor:
RSSI＝1/d
-f
Wherein d is a distance, and f is the factor.
If location resolver 1100 receives signal, it can comprise the multipath attenuation (step 1132) of signal.Decay relates to amplitude or the relative phase or the variation of the two (with respect to the time) of one or more frequency components of received signal.Figure 10 A has described the received signal of the demonstration of reflected signal multipath attenuation.Because the same signal ripple passes through between object identifiers 800 and network Connection Element 900, a plurality of paths especially indoors, multipath attenuation can take place.The signal of the demonstration that Figure 10 A describes show the multipath ripple sometimes homophase (constructively), homophase (devastatingly) does not arrive network Connection Element 900 sometimes.
Figure 10 B has described the signal that is provided with the exemplary reception of sampling window 1001 thereon, and is illustrated as the step 1134 of Fig. 9 B.In illustrative embodiment, it is that length with respect to the time interval is little that sampling window 1001 can be chosen as, and object identifiers sends the RF signal in the described time interval.In illustrative embodiment, as above described with reference to Fig. 5 A-5C, per ten seconds reception RF signals.In the example that Figure 10 B describes, sampling window 1001 is chosen as has 0.5 millisecond of (ms) width.It will be appreciated by those skilled in the art that sampling window 1001 is illustrative, the width of sampling window 1001 can be different from other embodiment according to the received signal duration.
Return the B with reference to Fig. 9, location resolver 1100 is determined in the sampling window 1001 peak value (step 1136) as the RSSI of the function of time then.For example can determine peak value by the derivative of taking RSSI.Figure 10 C has described exemplary received signal, and wherein the peak value 1003,1005 and 1007 of the RF signal of Jie Shouing is to determine with sampling window 1001.The object identifiers 800 that peak value 1003,1005 among Figure 10 C and 1007 indications are located moves.Peak-peak 1007 in sampling window 1001 is to use in position calculation subsequently then, such as multidirectional method and triangulation, that is to say with reference to Fig. 9 B aforesaid (step 1138).Although the peak-peak of the RF signal that is received is not real RSSI, it has the slight shift that is easy to calculate.For example, to show the maximum RSSI value in sampling window be approximate+7dBm to Figure 10 C.In identical sampling window 1007, instantaneous RSSI-38dBm and+change between the 7dBm.This+the 7dBm value is to use in position calculation subsequently.
Advantage of the present invention be the navigation system of explanation when peak-peak is used for subsequently position calculation than the changeability that when using instantaneous value, reduces or eliminated RSSI.Another advantage of illustrative embodiment of the present invention is that illustrative embodiment of the present invention can be worked together with existing navigation system based on RSSI.In addition, the navigation system of illustrative embodiment of the present invention is simple and is easy to realize.
One skilled in the art will understand, and peak picking method of the present invention can be applied to a grouped data and a plurality of grouped datas of leap in different embodiment.One skilled in the art also will understand, and peak picking method of the present invention can be applied to continuous signal and discrete signal.
Peak picking method of the present invention or technology can be used with a plurality of transmissions and/or reception programme, such as one or more space diversity reception to communicate, time diversity technique and polarization diversity technique.Fig. 9 C is the peak picking method of the present invention used with space diversity reception to communicate of explanation or the flow chart of technology.In this example, position determination module 14 can receive the signal (step 1142) that sends with space diversity reception to communicate from object identifiers 800.Described space diversity is to send or receive or the two method, wherein Shuai Jian influence, ideally by the antenna of one or more wavelength separated time use and minimize physically separated by two or more.If signal is to use space diversity reception to communicate to receive, signal strength signal intensity is to use the peak picking method described in the step 1113 of the present invention such as top Fig. 9 A or technology and definite.For example, in space diversity reception to communicate, peak picking method or technology can be applied to the signal by each antenna reception.The peak picking method is these two signals relatively, select signal preferably, for example the signal of high peaks.
Fig. 9 D is the peak picking method of the present invention used with time diversity technique of explanation or the flow chart of technology.In this example, position determination module 14 can receive the signal (step 1144) that sends with time diversity technique from object identifiers 800.In time diversity technique, the signal of expression identical information sends with different time on same channel.Described time diversity usually is in the system that is attached to burst error (burst error) condition and is being adjusted on the time longer than burst error and uses.If signal is to use time diversity technique to receive, signal strength signal intensity is to use the peak picking method described in the step 1113 of the present invention such as top Fig. 9 A or technology and definite.
Fig. 9 E is the peak picking method of the present invention used with polarization diversity technique of explanation or the flow chart of technology.In this example, position determination module 14 can receive the signal (step 1146) that sends with polarization diversity technique from object identifiers 800.Polarization diversity is diversity transmission and reception, and wherein the identical information signal sends simultaneously on orthogonally polarized wave and receives with independent decay propagation characteristic.If signal is to use time diversity technique to receive, signal strength signal intensity is to use the peak picking method described in the step 1113 of the present invention such as top Fig. 9 A and definite.
It will be appreciated by those skilled in the art that peak picking method of the present invention or technology can with the use that combines of aforesaid two or more diversity techniques.
Figure 11 illustrated navigation system 720 according to another embodiment of the present invention.Navigation system 720 comprises a plurality of object identifiers 800, network Connection Element 900 and fixed location identifier 1000.Network 400 is in company with database 1150 and location resolver 1100 explanation together.According to current embodiment, topology data storehouse 1152 provides respectively from database 1150.Topology data storehouse 1152 can have the relevant information in position with network Connection Element 900, fixed position element 900 and fixed location identifier 1000.This topology information allows to provide the more multiple graphs data of the position of relevant object identifiers 800.For example, can be appointed as be specific office, passageway or zone in the position of fixed location identifier 1000 or network Connection Element 900.Therefore, if object identifiers 800 is identified in the little radius of fixed location identifier 1000 or network Connection Element 900, object identifiers 800 can be identified in specific space, office or the zone so.
As shown for example, according to embodiments of the invention, for example understand position determination module 14 comprise fixed location identifier 1000, network 400, electronic equipment 1101, location resolver 1100, database 1150 and topology data storehouse 1152 one of them.
Figure 12 has illustrated the example of the navigation system of using in health institution is provided with.Shown in giving an example among Figure 12, network 400 is provided as permission and communicates by letter between a plurality of network Connection Elements 900.Location resolver 1100 also is provided as with network 400 and communicates by letter.It should be noted that described network is not limited to cable network, described network can be a wireless network.Fixed location identifier 1000 is illustrated as with network Connection Element 900 and communicates by letter.A plurality of object identifiers 800 are illustrated as and are fixed on a plurality of equipment of health institution in being provided with.Object identifiers 800 can be communicated by letter with the one or more of fixed location identifier 1000 with network Connection Element 900.
As Figure 13 explanation, show network interface 992,1120 for example according to the embodiment of the invention.Network interface 992,1120 can be used in network Connection Element 900 and/or location resolver 1100 or be applicable to other assembly of network service one or more in.Network interface 992,1120 is applicable to and is directly coupled to network.Network interface 992,1120 can dispose with the one or more suitable configuration of map network.For example, Figure 13 illustrated network interface 992,1120 can directly be configured to Ethernet via ethernet circuit 994.According to another embodiment, network interface 992,1120 can be coupled to telephone system, be coupled to modulator-demodulator 996.According to another embodiment of the present invention, network interface 992,1120 can have and allows to block 1004 and/or be used for one or more with the medical telemetry transmitter 1006 of medical telemetry network service with the UTP network interface card 1002 of cable TV modulator 998, permission and the UTP network service of wired T.V. network service or USB (USB).
Described the present invention for example, the modifications and variations of the embodiment that describes are conspicuous to one of ordinary skill in the art under the prerequisite that does not break away from spirit of the present invention.Aspect of the foregoing description and characteristic can be used in combination.Described embodiment only is illustrative, in any case should not be considered limiting.Scope of the present invention is limited by additional claim rather than previous specification, and all changes and the equivalence that belong in the claim scope all are included in wherein.
Claims (38)
1. navigation system that is used to handle the signal that sends from object, described system comprises:
Position determination module, it is used to receive the described signal that sends from described object, and wherein said position determination module is determined the intensity of described signal according to the peak-peak of described signal in for the sampling window of timing definition.
2. the system of claim 1, wherein said signal comprise RF signal, IR signal and US signal at least one of them.
3. the system of claim 1, wherein said position determination module determine the position of described object according to the intensity of the described signal that is received by described position determination module.
4. the system of claim 1 also comprises the transmitter that is used to send described signal that is coupled to described object.
5. the system of claim 1, wherein said position determination module receives the signal via a plurality of paths between described object and described position determination module.
6. the system of claim 1, wherein said position determination module comprise the receiver that is used to receive the described signal that sends from described object.
7. the system of claim 1, wherein said position determination module comprises location resolver, it is used to utilize the position determine described object for the peak-peak of the described signal in the sampling window of timing definition.
8. the system of claim 1, wherein said position determination module comprises the network Connection Element, it is used to receive the described signal that sends from described object.
9. the system of claim 1, wherein said position determination module comprises network, it is used to receive described signal, and utilizes described signal to determine the position of described object.
10. the system of claim 9 is wherein said network based in the described signal of intensity determine to(for) the peak-peak of the described signal in the sampling window of timing definition.
11. the navigation system of claim 1, wherein said signal submit to one or more in space diversity reception to communicate, time diversity technique and the polarization diversity technique.
12. the navigation system of claim 1, wherein said position determination module are suitable for sending second signal, this signal submits to one or more in space diversity reception to communicate, time diversity technique and the polarization diversity technique.
13. a navigation system that is used for the position of definite object, described navigation system comprises:
Be coupled to the object identifiers that is used to send signal of described object;
Position determination module, it is used to receive the described signal that sends from described transmitter, and wherein said position determination module is determined the intensity of described signal according to the peak-peak of described signal in for the sampling window of timing definition.
14. the navigation system of claim 13, wherein position determination module comprises:
Location resolver, the position that it is used to utilize the peak-peak of described signal to calculate described object.
15. the navigation system of claim 13, wherein said signal submit to one or more in space diversity reception to communicate, time diversity technique and the polarization diversity technique.
16. the navigation system of claim 13, wherein said position determination module are suitable for sending second signal, this signal submits to one or more in space diversity reception to communicate, time diversity technique and the polarization diversity technique.
17. a method that is used for determining the intensity of the signal that sends from the transmitter that is coupled to object in computing equipment, described method comprises step:
The signal that reception sends from described transmitter;
According in the described signal of intensity determine to(for) the peak-peak of the described signal in the sampling window of timing definition.
18. the method for claim 17, wherein said receiving step comprises: from the described signal of described transmitter reception via a plurality of paths.
19. the method for claim 17, wherein said receiving step comprises: with the described signal of space diversity reception.
20. the method for claim 17, wherein said receiving step comprises: receive described signal with time diversity.
21. the method for claim 17, wherein said receiving step comprises: receive described signal with polarization diversity.
22. the method for claim 17, wherein said determining step comprises:
Determine described sampling window with respect to the time about the signal that sends from described transmitter;
Determine the peak value of the described signal in described sampling window; With
Determine the peak-peak of described signal in described sampling window.
23. the method for claim 22, the peak value that wherein has the described signal of described sampling window are to determine by the derivative of taking described signal.
24. the method for claim 17, wherein said signal comprise the positional information of relevant described object.
25. the method for claim 24, the position of wherein said object are to utilize the peak-peak of described signal to calculate.
26. the method for claim 24, the position of wherein said object utilize multidirectional law technology to calculate.
27. the method for claim 24, the position of wherein said object utilize triangulation technique to calculate.
28. a computer program of preserving the instruction of the intensity of moving, be used for determining the signal that sends from the transmitter that is coupled to object in computer comprises step:
The signal that reception sends from transmitter;
According in the described signal of intensity determine to(for) the peak-peak of the described signal in the sampling window of timing definition.
29. the computer program of claim 28, wherein said receiving step comprises: from the signal of described transmitter reception via a plurality of paths.
30. the computer program of claim 28, wherein said receiving step comprises: with the described signal of space diversity reception.
31. the computer program of claim 28, wherein said receiving step comprises: receive described signal with time diversity.
32. the computer program of claim 28, wherein said receiving step comprises: receive described signal with polarization diversity.
33. the computer program of claim 28, wherein said determining step comprises:
Determine described sampling window with respect to the time about the signal that sends from described transmitter;
Determine the peak value of the described signal in described sampling window; With
Determine the peak-peak of described signal in described sampling window.
34. the computer program of claim 33, the peak value that wherein has the described signal of described sampling window are to determine by the derivative of taking described signal.
35. the computer program of claim 28, wherein said signal comprise the information of the position of relevant described object.
36. the computer program of claim 35, the position of wherein said object are to utilize the peak-peak of described signal to calculate.
37. the computer program of claim 35, the position of wherein said object utilize multidirectional law technology to calculate.
38. the computer program of claim 35, the position of wherein said object utilize triangulation technique to calculate.
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| CN102759915A (en) * | 2012-07-19 | 2012-10-31 | 山东康威通信技术股份有限公司 | Emergency communication device for positioning personnel in electric power tunnel |
| CN102759915B (en) * | 2012-07-19 | 2014-05-07 | 山东康威通信技术股份有限公司 | Emergency communication device for positioning personnel in electric power tunnel |
| CN105814616A (en) * | 2013-12-09 | 2016-07-27 | M·瓦西奇 | Method for operating an emergency call system, emergency call system |
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